On all devices there is a program connector.
Use the AMP - 7-215083-6 from TE connectivity to connect.
Description of the pins:
The first 5 pins are the same as the microchip program connector standard. Look in the BOM of the PCB to know what type of microchip IC is used.
The debug pin (pin 6) is a TTL TX UART pin with debug information. (baudrate is standard 115200)
For more information how to program a module, please see Module Programming
For the micro CAN module, the connector is different, the pinout is: